"His Royal Highness The Duke of Edinburgh left King Edward VII's Hospital at midday today, following a hip replacement operation last week".
Prince Philip has been discharged from hospital, just over a week after he had a hip replacement.
He had been admitted to the private hospital on 3 April for the planned surgery, with the operation taking place the following day.
The palace says in a statement Friday that he will continue his recovery at Windsor Castle.
At the time of the operation Buckingham Palace said the surgery to replace the joint had been a success and Philip was "comfortable and in good spirits".
Queen Elizabeth II has not been photographed visiting her husband at the hospital. He is progressing satisfactorily at this early stage.
Prince Philip, 96, was photographed leaving the facility. Daughter Princess Anne was the only member of the family seen visiting the royal patriarch in hospital.
Philip's surgery came after he was forced to skip the Royal Maundy Service at Leicester Cathedral last month because of his crippling hip pain.
On Thursday Princess Anne visited her father and told reporters that the Duke was on "good form", and he appeared to smile as he was driven home shortly after noon.
Prince Philip announced his retirement in May 2017 and said that he will no longer be taking part in official royal engagements in 2018.
"The duke was keen to attend but made this decision because he was experiencing some trouble with his hip".
Zhiwei Zhang on How China Could Respond to US Tariffs
Secret 2K Studio Working on Next Bioshock
Yulia Skripal in 'totally different life' as she rejects Russian assistance
Fortis in focus, all potential investors offer nearly identical prices
Netflix (NFLX) Rating Increased to Buy at Vetr
Blizzard warning area expands to take in Sioux City
Pep Guardiola: Manchester City could still blow Premier League title
Soul Calibur 6 producer praises the Witcher series in new
Attack on ex-spy was with nerve agent, chemical body confirms
Woman adopts baby after chance encounter with his mother at airport
Tornado watch issued for Denton County
Nyairera bags silver as Semenya completes the double
Herbert Diess Joins Volkswagen As New Group CEO
Criminals can claim 'right to be forgotten' following landmark Google case
Seahawks Sign Kicker Sebastian Janikowski
Accuser Tells Jury Bill Cosby is a "Serial Rapist"
Police investigate death of 7-month-old Kansas girl